The objectives of this project (Phase I and II) are to developan automated, robust, and reliable image based navigation systemfor an air vehicle.Phase I will (1) develop a mathematical foundation for motion imagenavigation, (2) formulate the mathematical basis for processing aseries of sensed frames to generate the terrain profile andcorrelating the profile to a pre-defined reference map to provide apositional update (assume robust navigational estimates) (3) formulatethe mathematical basis for processing a series of sensed frames toprovide a velocity update (assume noisy navigational estimates) (4)define critical camera parameters, air speed, and altitudelimitations, (5) estimate navigation accuracy and robustness undervarying conditions, and (6) estimate required computing resources toimplement this approach in real-time.Phase II will develop and demonstrate a prototype motion imagenavigator. This demonstration will include a flight test on a Boeingtest platform. Phase III will integrate of the motion imagenavigation technique into an air vehicle. Commercial applications ofthe approach will also be investigated by SSCI and its subcontractorBoeing during the Phase II and fully developed during the Phase III.The project team consists of Scientific Systems Company Inc. (SSCI)and Boeing Mission Planning System (Boeing MPS). SSCI brings a wealthof expertise in image analysis, computer vision, and guidance,navigation, and controls (GNC) systems. Boeing MPS has expert domainknowledge of the Tomahawk system. Mr. Angelo Corrubia, an expert inPhotogrammetry, will support this team as a consultant. The development of the image aided navigation will serve as afoundation for Phase III commercialization. These technologies have adirect market in both military and civilian markets that includeunmanned air vehicles.